Automatic instrument landing systems for air-borne craft



July 25, 1961 B CARPENTER 2,993,665

AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT l E r ,y ,nd-T2072?? lnuenfor :su ELEA/voR BRADLEY CARPENTER BENJAM//v CARPE/WER ./R. A/v WALTER r E/sHER TRI/STES AW VM Gttorneg `Bully 25, i961 B. CARPENTER AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT 9 Sheets-Sheet 2 Original Filed Sept. l5, 1948 July 25, 1961 B. CARPENTER 2,993,555 Y AUTOMATIC INSTRUMENT LANDING sYsm/Is FOR AIR-BORNE slam riginal- Filed sept. 15, 1948 9 sheets-sheet 3 `Fuly 25, 1961 B. CARPENTER AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT 3 n van for BE NJAM/N CARPE N T ER, 0 BY ELEANOR BRADLEY CA RPE N 7F19,

JR., WALTER T FISHER; TRUSS j# //(htomeg BENJAMIN CA RPE N TER,

July 25, 1961 B. CARPENTER AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT Original Filed Sept. l5

9 Sheets-Sheet 5 July 25, 1961 B. CARPENTER AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT 9 Sheets-Sheet 6 Original Filed Sept. l5, 1948 `Q T: Tn

:inventor oEc'D TER, BENJAMIN CARPENTER JR. AND

HEIVJHM//V Wifi/V75?, BY FLEA/VOR BRADLEY CARPE N WALTER THS/1ER, TRusTEEs W #92544, www

July 25, 1961 B. CARPENTER 2,993,665V

AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT Original Filed Sept. l5, 1948 9 Sheets-Sheet 7 CARPE/V TER, BENJAMIN 0A RFE /VT E R BENJAMIN CARPENTER, DE C ID BY MANO? BRADLEY mmm QMS@

WALTER 7' FISHER, TRL/S W //PZJz/Qttomeg July 25, 1961 B. CARPENTER AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT Original Filed Sept. l5, 1948 9 Sheets-Sheet 8 July 25, 1961 B. CARPENTER AUTOMATIC INSTRUMENT LANDING SYSTEMS FOR AIR-BORNE CRAFT Original Filed Sept. l5, 1948 9 Sheets-Sheet 9 nventor 'D ELE/:NOR BRADLEY CARM/'9745 E/vJAM//v cAHPENrER WALTER 7.' F/sH (Ittorneg ni'tedf States Patent AUTOMATIC INSTRUNEENT LANDING SYSTEMS FOR AIR-BORNE CRAFT Benjamin Carpenter, deceased, late of Lake Forest, lll., by Eleanor Bradley Carpenter and Benjamin Carpenter, Jr., Lake Forest, Ill., and Walter T. Fisher, Winnetka, Ill., trustees; Walter T. Fisher, executor of Benjamin Carpenter, deceased, assignor to Minneapolis-Honeywell Regulator Company, Minneapolis, Minn., a corporation of Delaware Original application Sept. 15, 1948, Ser. No. 49,442. Di-

vided and this application Feb. 12, 1954, Ser. No.

Claims. (Cl. 244-77) This application is a division of copending application Serial No. 49,442, tiled Sept. 15, 1948.

This invention relates to the field of aviation, and more particularly to instrument systems designed to make it possible for air-'borne cr-aft to land at a given airport regardless of the visibility at the airport. The system includes an automatic pilot for the craft in question, an instrument landing installation for detecting departure of the craft from a predetermined path in azimuth and elevation, and coupling means for bringing about operation of the former under the control of the latter.

Automatic pilots for air-borne craft are not broadly novel: a clear disclosure of one such automatic pilot is to be found in the November 1944 issue of Electrical Engineering, beginning at page 849 of volu-me 63 of that publication. Nor is the provision of an instrument landing installation broadly new: the principles and characteristics of one such installation are described in Technieal Development Reports 35 and 55 of the Civil Aeronautics Administration, published in October 1943 4and June 1947 respectively. Up to the present, however, no satisfactory means have been provided enabling the instrument landing receiver, which always operated as simply an indicator, to exercise control over an automatic pilot, and automatically bring about such changes in the control surfaces of the craft as may be required to cause it to follow a desired landing path, Without the intervention of a human intermediary. The present invention is designed to accomplish this.

It is an object of the invention to provide improved means for automatically controlling the course of a craft so that it follows a predetermined 'path relative to the surface of the earth.

Another object of the invention is to provide improved means for operating an automatic pilot, designed for energization with alternating voltage, in accordance with signals from an instrument landing receiver having a unidirectional voltage output, so that the craft follows the instrument approach path.

It is another object of the invention to provide means for coupling such an A.C. automatic pilot and D.C. instrument landing receiver to supply the former with alternating signal voltages from -a selected source under the control of the latter, the alternating voltage so supplied being either in phase with or 180 out of phase with that of the source.

Yet another object of the invention is to provide such a coupler in which voltage outputs of the proper phase relation are obtained from la source of alternating voltage common to both the coupler and the automatic pilot by a full-Wave phase-sensitive discriminator including electron discharge tubes whose grids are energized with arnplilied unidirectional voltage proportional to the output voltage of the instrument landing receiver.

Yet another object of the invention is to provide such a coupler in which the unidirectional grid voltages are derived from the dirmct voltages @fthe instrument landing asserts* receiver by a D.C. amplifier including a mechanical ititerrupter, a wave Shaper, an electronic amplifier, and a phase sensitive full wave rectifier, the latter of which may be either mechanical, and associated with the interrupter, or electronic.

Yet another object of the invention is to provide a system in which the output of the coupling unit not only affects the course control components of the automatic pilot, but also controls erection cut-out means for a vertical gyroscope which serves as a standard of attitude for the autopilot.

A further object of the invention is to provide means for causing a craft to follow a particular path, in which departure of the craft from the desired path s detected by means `of a radio instrument and results in operation of an automatic pilot to return the craft to the path, yand in simultaneous disabling of the' erection system of a vertical gyroscope in the automatic pilot.

A further object of the invention is to provide such a system in which are switch means for adjusting the degree to which the radio signal is modified according to its rate of change, for introducing low pass filtering action into the response o-f the system, for reversing the sense of the control exercised by the radio system, and for adjusting the amount of such control resulting from a given radio signal.

A further object of the invention is to provide a system in which it is possible yby operation of a suitable mechanism to cause the craft to reverse the direction in Iwhich it is following the beam, the change in direction always being initiated in a predetermined direction.

A further object of the invention is to provide such a coupling means which maintains itself in a balanced condition when not in immediate use, so that no sudden application of control may take place in the automatic pilot when control thereof by radio is initiated.

A still further object of the invention is to provide such a system having switch means such as in a first position to adapt the system for outbound flight, awayfrom the airport; in a second position to adapt the system for inbound ight, toward the airport; in a third position to cause the system to respond to elevation as Well as azi- Inuth signals; in a fourth position to automatically cause the craft to turn in a predetermined direction from an outbound course to an inbound course; and in a fth position to restore to the automatic pilot sole control of the craft.

A still further object of the invention is to provide such a system having switch means such as in a first position to adapt the system for outbound flight, away from the airport; in a second position to adapt the system for inbound flight, toward the airport; in a third position to cause the system to respond to elevation las well as azimuth signals, and in a fourth position to restore to the automatic pilot sole control of the craft.

A still further object of the invention is to provide means for causing turn of the craft in response to radio signals without losing the advantage of gyroscopic stabilization of the craft about the turn axis during the turn.

Various other objects, advantages, and features of novelty which characterize the invention are pointed out with particularity in the claims annexed hereto and forming a part hereof. However, for a better understanding ofthe invention, its advantages, and objects at tained by its use, reference should be had to the subjoined drawing, which forms a further part hereof, and to the accompanying descriptive matter, in which are illustrated and described certain preferred embodiments of the invention. In the drawing:

FIGURE 1 is a functional diagram of the complete Sistemi FIGURES 2 and 3 illustrate in plan and elevation the path in space set up by the complex electromagnetic radiation emitted by the transmitters of the instrument landing installation;

FIGURE 4 is a block diagram showing the functional relationship of the receiving components of an instrument landing installation;

FIGURE 5 is a similar diagram of the components of a coupling unit for connecting the instrument landing receiver with the automatic pilot;

FIGURE 6 is a detailed wiring diagram showing elements used in an actual embodiment of the vsystem suggested in FIGURE 5;

FIGURE 7 is a wiring diagram which, taken together with FIGURE 6, clearly illustrates how the coupling unit controls the automatic pilot;

FIGURE 8 is a block diagram generally similar to FIGURE 5, and disclosing the localizer or azimuth chan nel only of a modification of the invention;

FIGURES 9 and 10 taken together comprise a wiring diagram of an embodiment of this modification of the invention; e

FIGURE ll is a view similar to ,FIGURE 2 on a larger scale; and showing the type of course followed by a craft equipped with the present invention;

FIGURE l2 is a fragmentary view showing further modifications of the structure of FIGURES 6 and 7; and

FIGURE 13 is a schematic showing of a still further modification of this invention.

GENERAL NATURE OF THE SYSTEM For an over-.all understanding of the invention, reference should now be made to FIGURE 1, in which the localizer transmitter 10 and the glide path transmitter 11, llocated in the lower left hand portion of the figure, comprise the ground installation of the instrument landing installation: all the remaining elements shown in FIGURE l are air-borne. The lair-borne components include a localizer receiver 12, a glide path receiver 13 and a cross pointer indicator 14, these components making up the usual indicating type of instrument landing receiver.

In the right hand portion of FIGURE l there is disclosed an automatic pilot 18 in which a directional gyro scope 15 and a vertical gyroscope 16 act as standards of attitude and provide signals, indicating departure of the craft from the standard attitude, to the automatic pilot bridge networks indicated generally at 17. These networks energize the elevator servomotor 20, the rudder servomotor 21, and the aileron servomotor 22. As is indicated in FIGURE 1, operation of the various servomotors is effective, not only to bring about change in the attitude of the 4craft by operating the appropriate control surfaces, but also to rebalance the appropriate bridge networks in the automatic pilot. It should then be emphasized that the word attitude is used by those skilled in the art in a restricted sense, associated only with the roll and pitch axes, and in a broader sense, associated with all three axes.

There is also shown in FIGURE l a coupling unit 23 which functions -to enable the bridge networks shown at 17 to be influenced, in a fashion correlated with the performance of the particular craft, by the output of the localizer receiver 12 and the glide path receiver 13. Coupling unit 23 has a ylocalizer channel 24, to which is connected the output of the localizer receiver 12, and a glide path channel 25, to which is connected the output of the glide path receiver 13. The localizer channel of the coupling unit provides to `the bridge networks of the automatic pilot two sets of voltages, one indicative of need for controlling the operation of the aileron servomotor and one indicative of need for controlling the operation of the rudder servomotor, both independently of the usual control exercised by gyroscopes 15 and 16 in the automatic pilot. The glide path channel of the coupling 4 unit provides a single output voltage indicative of need for controlling the elevator servomotor of the automatic pilot.

Before giving a detailed description of the coupling unit and its relationship to the other instrument, it appears desirable to give Ia little more fully the theory of operation of the instrument landing installation and that of the automatic pilot: their combination in a single operative system is new, and this new combination cannot be perfectly understood without at least a general knowledge of the underlying principles of its components.

Theory of landing path projection The localizer transmitter indicated generally at 10 in FIGURE l energizes a complex antenna system 26 to project in space a pair of overlapping fields, one of a carrier frequency of ll() megacycles per second modulated at cycles per second and the other of the same carrier ffrequency modulated at cycles per second, as shown by the solid curve 27 and the broken curve 30 respectively in FIGURE 2. In that yfigure it will be seen that there are two points, 31 and 32, at which the strengths of the two elds are equal. At either of these two points a ratio meter responsive to the two field strengths gives a Zero or one-to-one indication.

FIGURE 2 is laid out to show the curves for a particular value of field strength, since of course the strength of the yleld radiated by an antenna is at every point influenced by the distance between the antenna and that point. Regardless of what particular value of field strength may be chosen for illustrative purposes, the diagram itself will take the general form shown in FIGURE 2, the lobes being of larger area for a smaller value of eld strength and of a smaller area for a larger value of eld strength, and varying in specific outline with the arrangement of antenna elements, and so on. For any value of field strength and any specic equipotential outlines, however, the points of intersection of the two equipotential fields lie on a straight line joining points 31 and 32 and passing through the transmitter T, which line has been indicated in the figure by the reference characters TA.

At any point on the line TA a ratio meter responsive to eld strength indicates zero, as stated above. As the meter is moved normal to the line TA, in a downward direction, for example, the ratio meter no longer gives a Zero indication, but shows an increase in the signal modulated at 90 cycles over the signal modulated at 150 cycles, and this increase in ratio continues until the maximum reading of the meter has been reached. Likewise, if the ratio meter moves normal to the line TA in an upward direction, the indication departs from zero in a direction which shows a predominance of the signal modulated at 150 cycles over that modulated at 90 cycles, and this too continues until an opposite maximum reading of the instrument has been obtained.

It has been found that one embodiment of this system operates satisfactorily when the sensitivity of the meter is so adjusted that its needle moves from its one-to-one ratio indication to its maximum ratio indication when the craft carrying it has deviated in either directon from the line TA by an amount measured by an angle of three and one-half degrees at T: the lines TB and TC indicate the portion of space, about the central path, within which meter 14 is capable of giving a quantitative indication of the amount of departure of the craft from the desired path.

In theory the indication of the meter is strictly proportional to its displacement from the line TA only if the displacement takes place along the arc of a circle about T as a center, as indicated by the arrow 33 in FIGURE 2. Any component in the direction of the transmitter, as indicated by arrow 34, results in change in the strengths of both the 90 cycle modulated carrier .and the 150 cycle modulated carrier, and these changes may not be strictly in proportion to the displacement ofthe instrument from the transmitter. To eliminate this possible variable, each of the receivers includes an automatic volume control circuit which maintains the output of the receiver substantially constant regardless of change in the distance between the instrument and the transmitter. The ratio of the strengths of the two carriers is of course not affected.

It must be realized that the instrument is not concerned with the heading of the craft, but only with its location. Anywhere within the triangle ATC the instrument indicates that the craft should be turned to the right, so that the normal course of an approaching craft entering the beam and following the signal of the blind landing instrument without modification has a pattern indicated by the irregular curve 38.

The instrument is activated by the pilot when the craft is about to enter the beam, and the meter needle swings to one of its stops. As the craft crosses the line TC and enters the beam the needle moves away from its stop, but still indicates that -a turn to the right is needed, and this continues until the craft crosses the line TA, at which line the needle has its center zero position indicating a oneto-one ratio. The heading of the craft meanwhile has been changed to the right, however, turning it away from its desired course rather than toward it, so that it continues across the line TA and into the area ATB. Here the instrument indicates the need for a turn to the left, increasing in magnitude as the motion of the craft carries it further from the line TA. The heading of the craft is changed in response to the indication of the instrument, and it crosses the line TA again, this time at a more acute angle: eventually the craft takes the direction AT and holds it. The human pilot ordinarily anticipates the instrument, reducing his change in heading as the instrument indication decreases and thus sharply damping the course oscillation about TA.

There is one complication which must be considered. If an approaching craft enters the beam as indicated by the line 39, the indication given as the line TB is crossed is that the craft is to the right of the desired course and a turn to the left is therefore necessary. If the craft can turn sharply and is moving slowly, the turn may be eXecuted so that the craft does not ever cross the line TA, as shown by the line 39: in such a case the instrument can never give an indication that a turn in the other direction is necessary, and the craft continues to turn in a circle. A strong wind blowing across the beam toward the craft may have the same effect. A system to be fool proof must avoid this defect: this is done according to the present invention in the following fashion.

When the craft is moving normal to the line TA in one direction the rate of change of the localizer receiver output is negative, regardless of which side of the line the craft is located on, and similarly the rate is positive when the craft is moving in the opposite direction. The absolute magnitude of the localizer receiver output however is always positive when the craft is on one side of the line, and always negative when the craft is on the other side of the line. Whenever the craft is moving toward the center of the beam the absolute magnitude and the rate of change of the localizer receiver output are of opposite polarity and the latter may reduce any correction to be caused by the former, even to the extent of reversing it if need be. if the craft is going away from the center of the beam, the absolute magnitude and the rate of change of the localizer receiver output are of the same polarity and the latter may augment any correction to be caused by the former.

The coupling unit includes means adding to the localizer output a signal proportional to its rate of change, in the polarity relationship just recited. By judicious selection of components the relative magnitudes of the displacement and rate components of the modified signal may be adjusted so as to prevent circling as described above, since when the movement of the craft has a component away from the beam, the rate component of theV` modified voltage increases the correction due to the displacement component. Likewise the arrangement has antihunt properties, since when the movement of the craft has a component toward the beam the rate component of the signal voltage approaches a maximum value which opposes and may exceed that due to the displacement component, and thus cause reverse operation of the controls.

As previously mentioned, the signal to meter 14 simply shows that the craft is on one side or the other of the line TA, regardless of the heading of the craft. An approaching craft is proceeding in a general direction toward the transmitter, and if it is below the line TA as seen in FIGURE 2, a turn to the right is needed to return it to the beam. A departing craft at the same location is proceeding generally away from the transmitter, and in this case a turn to the left is required. The coupler -is accordingly provided with means for reversing its response to the receiver output so that the beam can be followed in either direction.

FIGURE 3 illustrates in elevation the elds radiated from the glide path transmitter 11. As shown in FIG- URE 1, this transmitter, like localizer transmitter 10, energizes a complex antenna system 35, to project in space a pair of overlapping elds, one of a carrier frequency of 335 megacycles per second modulated at l5() cycles per second, and the other of the same carrier frequency modulated at cycles per second, as shown by solid curve 36 and broken curve 37 in FIGURE 3. In that figure it will be seen that these two curves intersect in the first lobe of curve 36, and by suitably arranging and positioning the antenna arrays, the line TE joining the transmitter with this point of intersection may be made to have any angle within a range of from 2 to 5 with the horizontal as shown in FIGURE 3. Just as in the case of line TA in FIGURE 2, the line TE is a straight line as the iield strengths of the two radiations vary with distance. A ratio meter responsive to eld strengths in the vertical plane will accordingly give a one-to-one indication only when it is traveling along the line TE. The same reversing signal ratios are obtained when the craft is above or below the line TE as are obtained in the localizer system when the craft is to the left or right of the line TA.

Receiver construction and operation Receivers 12 and 1-3 will now be described in somewhat more detail, since use is made in this invention of the output from these receivers, and somewhat more specific knowledge of the function of these units will assist in understanding the invention. For this more specific information reference should now be made to FIGURE 4.

In FIGURE 4 localizer receiver 12 is shown to comprise a pair of input terminals 40 and 41 to which are connected the receiving antenna 42 and a ground connection 43, respectively. A radio frequency amplifier 46 of a suitable number of stages is connected to input terminals 40 and 4l, and the output of the radio frequency amplifier is fed through a demodulator 47 and a blocking condenser 48 to an audio frequency amplifier 50, which may also ybe of any suitable number of stages. While demodulator 47 is customarily a diode detector, any equivalent nonlinear impedance means may be made use of to perform this function.

The output of the audio frequency amplifier 50 is divided and impressed upon a pair of filter circuits, of which that indicated by reference numeral 51 is adjusted to have a low impedance to alternating voltages Whose frequency is in the neighborhood of cycles per second, While presenting a high impedance to alternating voltages having a frequency of 90 cycles per second. Similarly, filter 52 is adjusted to have a low impedance to alternating voltages having a frequency of 90 cycles per second, and a high impedance to alternating voltages having a frequency of l50 cycles per second. By this means, the output of audio frequency amplifier d is divided into two components whose relative magnitudes are substantially proportional to those of the 90- and 150-cycle components of the radiation received by antenna 42. The output of filter 51 is passed through a rectifier 53 which may also include means producing any desired degree of D.C. smoothing, and the output of filter 52 is passed through a rectier 54 which may also be provided with suitable smoothing means, so that the outputs of rectifiers 53 and 54 are essentially unidirectional voltages. The rectifiers are connected in series so that their voltages oppose one another, and this series circuit is connected to output terminals 44 and 45 of the localizer receiver.

An automatic volume control 53 is also provided, as discussed above, to maintain the output from the radio frequency amplifier at a substantially constant level regardless of fading or of movement of the craft toward or away from the transmitter.

The localizer receiver operates as follows, it being first assumed that the craft is located somewhere on the equi-signal line TA of FIGURE 2, as at P0. The radiations from the localizer transmitter 1t) are picked up by antenna 42 in equal magnitude and impressed upon radio frequency amplifier 46, amplified, and fed to demodulator 47 where the ll() megacycle carrier is removed. The unidirectional component of the demodulator output is fed through the automatic volume control circuit 58 and back to the radio frequency amplifier so as to stabilize its output regardless of change in the distance between the craft and the transmitter. The alternating component of the demodulator output, comprising 90 and 150 cycle components of equal amplitude, is impressed on the audio frequency amplifier 50, and its magnitude is independent of the distance from the craft to the transmitter because of the automatic volume control circuit. The audio frequency amplifier is effective equally on the 90` and 150 cycle components of the demodulated carrier so that the relative magnitudes of these voltages are the same after amplification as they were before, and a complex audio voltage having equal 90 and l5() cycle components is impressed on the inputs of filters 51 and 52.

Because of their electrical nature, filters 511 and 52 present equal, comparatively high impedances to frequencies of 90 and 150 cycles and equal, comparatively low impedances to frequencies of 150 and 90 cycles, both respectively: this results in the application to rectifierlters 53 and 54, respectively, of alternating voltages of substantially only or 9() cycles and of equal amplitude. Rectifier-filters 53 and 54 are designed to give equal unidirectional output voltages when energized in this fashion, the polarities of these output voltages being as shown in FIGURE 4. Since the two outputs are connected in series to oppose one another, it is evident that because of their equality no resultant output voltage can appear at the output terminals of the receiver.

Iif the craft is located at some point not on the equisignal line TA, such as point P1, the radiations from the transmitter do not reach antenna 42 in equal magnitude, that modulated at 90 cycles exceeding that modulated at 150 cycles. The ratio between the strengths of the radiations is unaffected in the radio frequency amplifier, the demodulator, and the audio frequency amplifier, whose output is a complex audio wave having unequal 90 and 150 cycle components, the former exceeding the latter. The voltage output from filter 52 therefore exceeds that from filter 51, and accordingly the unidirectional voltage output of the rectifier-filter 54 -exceeds that of rectifier- `filter 53, and a voltage appears across terminals 44 and 45 of receiver 12, terminal 44 bein-g positive and terminal 45 being negative.

If the craft is located at point P2 rather than point P1,

the radiation modulated at 150 cycles reaching antenna 42 exceeds that modulated at 90 cycles. The receiver operates in a fashion similar to that just described, but this time the unidirectional voltage output from rectifier-tilter 53 exceeds that from rectifier-filter 54, and the voltage appearing across terminals 44 and 45 of receiver 12 is now of the opposite polarity, terminal 45 being positive and terminal 44 being negative.

The glide path receiver in FIGURE 4 glide path receiver 13 is shown to comprise a pair of input terminals 6() and 61, to which are connected respectively a receiving antenna 62 and a ground connection 63, and a pair of output terminals 64 and 65. Glide pat-h receiver 13 is in every respect similar to localizer receiver 12 both in structure and operation, except that it is tuned to 335 megacycles rather than megacycles, and its construction will not be given in further detail.

The cross pointer meier Localizer receiver 12 and glide path receiver 13 are both connected to cross pointer indicator 14. This indicator comprises in effect two center-zero voltmeters 66 and 6'7, arranged in a common housing so that the needle of one may move to t-he left or right from a normally vertical central position, while the needle of the other may move up and down from a normal Ahorizontal central position. The needles are mounted one behind the other so that each is free to move throughout its entire range without interference from the other.

The needle 70` of meter 14 is displaced from its center position on energization of winding 71 with direct current. If the energizing current is of a first polarity needle 7d is defiected to the left, while if the polarity of the energizing voltage is reversed, the deflection of needle 70 is also reversed, taking place to the right. Winding '71 is energized rfrom output terminals 44 and 45 of localizer receiver 12 by conductors 72 and 73 and conductors 74 and 75, so that when terminal 44 of the receiver is positive the needle 70 is deflected t-o the left as seen in FIGURE 4.

The needle 77 of meter 14 is displaced from its normally horizontal central position upon energization of winding 76 with `direct current, the needle being displaced upwardly when the energizing current -has a first polarity and downwardly when the polarity o-f the energizing current is reverse. Winding 7 6 is energized from output terminals 64 and 65 of -glide path receiver -13 by conductors 32 and 83, and conductors 84 and 85, so that when terminal 64 of the receiver is positive the needle 77 is deflected upwardly as shown in FIGURE 4.

It will be seen that the structure thus -far described in connection with FIGURE 4 is simply that of an indicating instrument for pointing out visually to the pilot of `a craft that its location with respect to a path projected in space by transmitters 10 and 11, as detected by receivers 12 and 13, is above or below, or to the right or left of, the center of the path. Such a device, while of great utility to human pilots in the control of craft particularly during overcast weather conditions, is without utility -for automatically control-ling the movement of a craft, since it requires the presence of a human intermediary. This invention, as previously pointed out, centers about the coupling unit 23 by which the voltage outputsof the localizer and glide path receivers, normally used to per-form simply an indicating function, are adapted to per-form a control function. To this end the output of localizer receiver 12 is connected, in addition to its `connection to cross pointer meter 14, to coupling unit 23` by conductors 72 and 80 and conductors 81 and 75, and similarly the output of glide path receiver 13 is also connectedrto coupling unit 23 by conductors 82 and 89 and conductors 88 and 85. Before describing in detail the structure of coupling unit 23, however, it appears desirable to describe such portions of the structure and operation of the automatic pilot as are necessary to an understanding of the system as a whole. For this purpose, reference should now be made to FIGURES l and 7.

Structure and operation of the yautomatic pilot In FIGURE 7 the automatic pilot 18` is sho-wn in relation to a multi-pole multi-position switch generally indicated by numeral S6 at the `left o-f the figure. This switch is comprised in coupling unit 23, and a general consideration of its structure and function will be postponed until the coupling unit as a Whole is being discussed. For the present it need only be remembered that, in the Off position of this switch, certain of its contactors maintain in a normal condition circuits in the automatic .pilot which require alteration when the latter is to be controlled by the output of t-he instrument landing instrument.

The usual source of electrical energy in any aircraft is a 28 volt storage battery charged by generators driven by the engines. Such a battery is indicated at 112 in the lower right hand portion of FIGURE 7, and is shown as energizing, through a switch 113, an inverter -114 which supplies alternating electrical energy Ifor the various amplifiers, motors, and transformers comprising the automatic pilot through a pair of conductors 118 and 1:19. Inverter 114 may indeed be large enough to provide all the alternating voltage for the aircraft, just as the battery 112 may provide all the unidirectional voltage.

The rudder bridge In the automatic pilot a directional gyroscope 15 acts through a directional arm or mechanical connection 87 to stabilize the position of the slider 90 of a potential divider 91 whose winding 92 is rigid with the craft and therefore moves with it with respect to stabilized slider 90 when the heading of the craft changes. The secondary winding 93 of a transformer 94, whose primary winding 95 is normally energized from inverter 114 through conductors 118 and 119, is connected to the terminals of winding 92 of potential divider 91, and also to the terminals of the winding 96 of a second potential divider 97, slider 100 of which is mechanicallI connected as by means 101 to the shaft of a servomotor 21 which will be referred to as the rudder servo: winding 96 is xed with respect thereto, so that operation of servomotor 21 is effective to vary the position of slider 100 on winding 96.

It will be seen that the structure just recited comprises a normally energized Wheatstone bridge whose input terminals are the terminals of secondary winding 93 of transformer 94, and whose output terminals are the sliders 90 and 100 of potential dividers 91 and 97. The unbalance voltage of this bridge, which will be referred to as the rudder bridge 102, is impresed upon the input terminals 103 and 104 of a normally energized amplifier 105 through a circuit which may be traced from input terminal-103 through ground connections 106 and 460 (the latter located at the lower central portion of FIG- URE 7), conductor 107, the upper portion of winding 462 of a potential divider 463', slider 464 of `the divider, and conductors' 110 and 111, which are electrically connected by a portion of switch 86 as will presently be described, to the slider 100 of bridge 102, and from input terminal 104 of the amplifier by conductor 108 to slider 90 of bridge 102.

Amplifier 105 is of a well known type and energizes motor 21 through conductors 109 for operation in a rst direction when the amplier is energized with alternating voltage of a iirst phase, and for operation in the opposite direction when the amplifier is energized with alternating voltage of the opposite phase: in each case the motor is energized for operation in such a direction that the resulting motion of slider 100 acts to rebalance bridge 102 and therefore to remove the input signal from the amplier, whereupon operation of the motor ceases. In addition to moving slider 100, operation of motor 21 is also effective to change the position of the rudder of the craft by a suitable mechanical connection 99 to the rudder. As the craft resumes its normal heading winding 92 is moved toward its normal relation to the position of slider '90, and this unbalances the bridge in the opposite sense, energizing motor 21 to return the rudder to its normal position, and also to recenter slider 100.

From the above it will be apparent that the function of this portion of the automatic pilot is to correct any departure of the heading of the craft from a particular one determined by the setting of the directional gyroscope 15. While very helpful in maintaining directed flight, this simple arrangement has the great drawback that it likewise acts to prevent the pilot from bringing about any permanent change in the course of the craft which may become desirable during a flight: any such deliberate change is' immediately sensed by the directional gyroscope which unbalances bridge 102 and energizes mot-or 21 to return the craft to the former course. In order to permit a permanent change in the course of the craft, the system is provided with further elements known as the directional arm lock.

The purpose of the directional arm lock is to permit change in the direction with respect to which gyroscope 15 stabilizes slider 90 of potential divider 91: this is accomplished by temporarily connecting the arm and the winding in a rigid association so that, as the winding turns with the craft, the wiper must move with it, thus maintaining balance in the bridge for the normal position of the rudder. Displacement of the latter to bring about the desired turn is accomplished by separate and independent means actuated, as is the directional arm lock, by a turn control knob 471 shown in the lower right corner of the ligure and mechanically connected by suitable means 468 to the slider 464 of a potential divider 463, discussed more fully below, and by suitable means 470 to the operating mechanism of a switch 117. The arrangement is such that initial movement of knob 471 in either direction closes switch 117, and motion of knob 471 thereafter displaces slider 464 in one direction or the other, depending on the direction of rotation of the knob.

As previously pointed out, the winding 92 of potential divider 91 is fixed to the craft for turning movement therewith. The directional arm lock functions to releasably clamp arm 87 to the housing of the gyroscope to force it to move unitarily with the craft, thus holding it motionless with respect to winding 92. In order to make this possible without precessing gyroscope 15 about one of its normally horizontal axes, :which would be undesirable, the normal connection between the gyroscope and arm 87 is made through a frictional coupling which transmits from the gyroscope sufficient torque to move slider with respect to winding 92 under all operating conditions of the instrument, but which nevertheless permits slipping to take place between arm 87 and the gyroscope on the application of less torque than the gyroscope rigidity of the instrument is capable of exerting. Accordingly when arm 87 is locked to the gyroscope housing and the craft turns, the gyroscope remains in its original attitude and the clutch slips.

The directional arm lock includes a solenoid having a winding 122 and a movable core or armature 128, the latter being associated by mechanical means 125 with the directional gyroscope ,15. The structural details of the directional arm lock are described in detail in the copending application of Willis H. Gille, Serial No. 447,989, led I une 27, 1942 and assigned to the assignee of the present application: these details are therefore not set forth herein. The circuit by which proper operation of the directional arm lock is brought about must be4 on closure of switch 117 through a circuit which may be traced from the positive pole of the battery through conductors 115 and 116, switch 117, conductors 120 and 121, normally connected by a portion of switch 86, the solenoid, and ground connections 123 and 124 to the negative pole of the battery. Energization of winding 122 moves core 128 and actuates the locking mechanism in directional gyroscope 15 through connection 125: opening of the switch deenergizes winding 122 and frees the directional arm for renewed azimuth stabilization by the gyroscope.

When the directional arm lock is operated wiper 90 is normally clamped at or near its central position, and after the rudder servomotor brings wiper 100 into the corresponding position the rudder position is also fixed by action of the servo system. Turn of the craft may now be brought about by an overriding manual control on the rudder, but in the automatic pilot under consideration this function is accomplished by potential divider 463 under the control of knob 471 as follows.

Conductor 107 is connected to a center tap 461 on the winding 462 of voltage divider 463, and slider 464 of this divider is connected by conductor 107 to the windings 462 and 462" of voltage divider 463' and a further voltage divider 463". The winding 462 of voltage divider 463 is energized from the secondary winding 465 of a transformer 466 whose primary winding 467 is energized from inverter 114 through conductors 118 and 119.

As long as slider 464 engages center tap 461, conductors 107 and 107 are at the same potential, and voltage divider 463 acts merely as an impedance in the amplifier circuit of rudder bridge 102. If knob 471 is turned to move slider 464 away from center tap 461, a voltage appears between the slider and ground connection 460 which depends in magnitude and phase on the amount and direction of the displacement of the slider. This voltage is impressed across winding 462 by conductors 107 and 107', and of it a variable portion determined by the position of slider 464 is impressed on amplifier 105 by the circuit previously traced: yit acts just as would unbalance of bridge 102 to cause energization of motor 21 which operates until the voltage is exactly balanced by unbalance voltage from the bridge, when the rudder remains stationary while the craft turns. No amount of turn of the craft is capable of rebalancing the bridge, since no member responsive to turn of the craft is now effective upon the bridge because of the operation of directional arm lock 122. The bridge can be rebalanced only by returning slider 464 to its central position, bringing about return of slider 160 to its normal position by reverse operation of motor 21. During the last increment of motion of knob 471 switch 117 is opened, thus returning control of the rudder servomotor to directional arm 87.

The aileron bridge An aileron bridge 126 forms a part of automatic pilot 18, and is shown to comprise a first potential divider 127 having a slider 130 and a winding 131, and a second potential divider 132 having a slider 133 and a winding 134, the windings 131 and 134 being connected in parallel to the secondary winding 136 of a transformer 135 having a primary winding 137 normally energized from conductors 118 and 119. The unbalance voltage of bridge 126 is applied to input terminals 138 and 139 of a normally energized amplifier 140 through a circuit which may be traced from input terminal 139 through ground connections 143 and 460, conductor 1(37, the upper portion of the winding 462" of potential divider 463", slider 464" of the divider, and conductors 141 and 142, which are normally electrically connected by a portion of switch 86 as will presently be described, to slider 133, and from input terminal 13S of the amplifier through conductor 144 to slider 130. Through conductors 149 amplifier 140 energizes servomotor 22, which will be referred to as the aileron servo and which actuates slider 133 of potential divider 132 through a mechanical connection 146. The

aileron servo also actuates the ailerons of the craft through a suitable mechanical connection 145. Slider of potential divider 127 is stabilized in space, about the roll axis of the craft, by a first mechanical output 148 from vertical gyroscope 16, so it is evident that the aileron bridge is in every respect similar to the rudder bridge just discussed.

It will be apparent that if sliders 464 and 464 are equally displaced along their windings, equal portions of any voltage between conductors 107 and 107 will be added in the rudder and aileron bridge circuits. The responsiveness of the craft to control about the turn and roll axes may not be the same, but by adjusting the positions of sliders 464' and 464 independently it is possible to bring about the relation between the additional voltages required to cause a coordinated turn of the craft. This is the reason for providing voltage dividers 463 and 463".

The elevator bridge The vertical gyroscope 16 also acts through a second mechanical output 169 to stabilize the slider 147 of a potential divider 150 having a winding 151 which is connected to comprise a part of an elevator bridge 152. This bridge has a second potential divider 153 including a slider 154 and a winding 155 connected, in parallel with winding 151, to the secondary winding 157 of a transformer 156 having a primary winding 160 normally energized from conductors 118 and 119. The output of the elevator bridge is connected to the input terminals 158 and 159 of a normally energized amplifier 161 through a circuit which may be traced from input terminal 158 through ground connection 164, and ground connection and conductor 162, which are normally electrically connected by a portion of switch 86 as will presently be described, to slider 154, and from input terminal 159 through conductor 163 to slider 147. Through conductors 166 amplier 161 energizes servomotor 20, which will be referred to as the elevator servo; this servo actuates slider 154 of potential divider 153 by means of a mechanical connection 167, and controls the elevators through a suitable mechanical connector 168. As is suggested by the presentation in the figure, the stabilizing effect of the vertical gyroscope 16 upon sliders 130 and 147 is about two normally perpendicular axes, the roll and pitch axes of the craft respectively. From the foregoing it will be apparent that elevator bridge 152 is similar to rudder bridge 102 previously described in every respect except that it is unaffected by adjustment of sliders 464' and 464".

In order that the stabilizing effect of the vertical gyroscope may be properly coordinated with the surface of the earth, the gyroscope is provided with suitable erection means, as is well known to those skilled in the gyroscopic art. It is also well known in that art that erection systems for gyroscopes are peculiarly susceptible to longitudinal and transverse accelerations such as continually occur in aircraft, and that if uncorrected, such accelerations speedily introduce into the stabilized axis of the vertical gyroscope such perturbations and inaccuracies as render it unt for use. These acceleration forces occur only to a minor and generally compensating extent during straight flight of the craft, but are prominent during any change in its heading. Their effect is overcome in the automatic pilot shown in FIGURE 7 by means, known as the erection cut-out, which temporarily disables the erection system of the vertical gyroscope when it is desired to change the crafts course.

The disabling means just recited is shown in FIGURE 7 to include a solenoid 170 energizable through a circuit Which may be traced from the positive pole of battery 1.121 through conductors 115 and 171, a switch 172 mechanically connected as at 47 0 and 472 to turn control knob 471, conductor 173, the solenoid, and ground connections 174 and 124. Solenoid 170 is effective, upon being energized, to disable the erecting means in the vertical gyroscope 16 by a connection 175 which may be mechanical in the case of a pneumatically or mechanically erected gyroscope or electrical in the case of an electrically erected gyroscope. Switches 117 and 172 are arranged, as is shown in FIGURE 7, for simultaneous operation by turn control knob 471, since whenever it is desired to change the course of the craft it is necessary both to lock directional arm 817 and to disable the erection system of the vertical gyroscope. The erection system and erection cut-out of vertical gyroscope 16 are shown in the copending application referred to above: the showing will therefore not be repeated here.

The foregoing brief description of the automatic pilot should make its construction and operation suiciently apparent for the purpose of understanding the present invention. A study of FIGURE 7 will at once make it evident that the application of additional voltages between conductors 110 and 111, 141 and 142, and `162 and 165, is suiiicient to energize the respective amplifiers independently of any previous unbalance of the respective bridges. The additional voltages may moreover be balanced out by suitable opposite unbalancing of the bridges, so that each gives a resultant zero signal to its amplier, if the independent voltages are of the same frequency as those supplied by the respective bridge transformer secondary windings, and in exact phase opposition to the voltages produced by movements of the motor driven sliders in one direction or the other. Coupling unit 23 is designed to provide such additional voltages to control the operation of the rudder, aileron and elevator servomotors, independently of the control by the directional and vertical gyroscopes, in accordance with signals supplied by the blind landing receivers as the craft follows or departs from the path in space electromagnetically projected by the localizer and glide path transmitters of the instrument landing installation.

Functions of the coupling unit The coupling unit shown at 23 in FIGURE 1 is illustrated in complete detail in FIGURES 6 and 7, but will probably be more easily understood if reference is first made to FIGURE which is a simplified functional diagram of the components making up the coupler, From FIGURE 5 it will be apparent that the coupling unit comprises two channels, the glide path channel 25 Vand the localizer channel 24, which are entirely independent, except that they are supplied by common sources of alternating and direct current, and that a single mechanical selector means is provided to control their output. The glide path signal indicated at 179 in FIGURE 5 is that supplied by conductors 88 and 89' in FIGURE 4, and similarly the localizer signal indicated at 180- in FIGURE 5 is that supplied by conductors 80 and 81 in FIGURE 4. Since the glide path channel 25 of coupling unit 23 is the simpler of the two channels, it will be considered first.

The unidirectional voltage from the glide path signal 179 is applied to a rate insertion circuit 181 which is not effective so long as the glide path receiver signal is of constant magnitude, but which acts when the glide path receiver signal varies in magnitude to oppose the variation. The output of the rate insertion circuit is applied to a chopper 182 comprising one set of interrupting contacts of a vibrator 183, -which is maintained in operation by energy from the battery 112. The resulting square Wave is amplified in amplifier 184, to raise its level, since the voltage output at the terminals of the glide path receiver is very small. The output of amplifier 184 is applied to a second chopper 185 comprising a second set of interrupting contacts in vibrator 183i. Amplifier 184 is constructed so that there is a minimum of phase shift in the voltage passing through it, and therefore since the blades of the two choppers move in synchronism it is possible to derive from the output of the second chopper a pair of voltages which are of opposite polarity with respect to ground, chopper number 2 reversing the direction in lwhich it completes its output circuit simultaneously with passing of the square wave output of amplifier 184 through zero. The output of chopper number 2 is fed through a ripple filter 186 to the input of a balanced modulator 187, energized with alternating voltage from source 114 through a phase reverser 188, whose purpose will presently be described. The output of modulator 187 is according to conventional practice an alternating voltage which varies in magnitude and reverses in phase with variation in the magnitude and reversal in the polarity of the unidirectional voltage on the input of the modulator. This alternating voltage is fed to a coupler 190 and the elevator signal output 191 derived therefrom is fed through selector switch 86 to the elevator bridge of the automatic pilot.

The localizer channel 24 of the coupling unit is'basically the same as the glide path channel 25 just discussed, but includes certain refinements required by the more exacting specifications to be met. As before, the signal is fed to a first chopper 193 comprising a portion of a vibrator 194, energized from battery 112, through the intermediary of a rate insertion circuit 195 which is ineffective so long as the localizer signal is of constant magnitude, but which acts, when the localizer signal varies in magnitude to oppose the variation. In the localizer channel, however, the relative magnitude of this opposition to a given change in the localizer signal voltage is regulated by a rate variation unit 196. The output of chopper 193 is amplified in amplifier 197, but the output of the amplifier instead of being fed directly to the second chopper 198 of interrupter 194 is first fed through a D.C. restorer 200 and a limiter 201. The output of chopper 198 is filtered in ripple filter 202, as before, and the resulting unidirectional potential is fed to a balanced modulator 203, which is similar to modulator 187, through a low pass filter 204. The latter has been found desirable because under certain conditions response of the coupling unit to rapidly varying signals from the localizer receiver is a disadvantage rather than an advantage, leading as it may to excessive control in the complete system. The alternating output voltage of the modulator is fed through a coupler 205 as before, and divided in a function selector 206 to provide signal outputs of suitable relative magnitude which are indicated at 207 and 210. Like the elevator signal output, these outputs are fed through selector switch 86, and supply the aileron and rudder bridges of the automatic pilot. It has been found that the modulators used in this coupler operate more satisfactorily over a particular range of their plate voltage, and accordingly a unidirectional voltage from battery 112 is maintained on the plates of the modulator tube in addition to the usual alternating voltage energization.

Structure and operation of the coupling unit selector switch The principal control of coupling unit 23 (see FIG- UR E7) is a switch 86 actuated upon operation of a manual knob 211 which may take any one of five positions with respect to a graduated scale 209. This switch functions as follows` In the Off position of the switch the instrument landing system is entirely disconnected from the automatic pilot which functions in its normal fashion. In the Outbound position of the switch the instrument landing system is connected to the automatic pilot in such a fashion as to cause the craft to follow the beam outwardly away from the transmitter. In the Turn position of the switch, the craft performs a 180 turn to the left sothat it is prepared to proceed along the beam in the opposite direction. In order to make certain that the craft always turns in the same direction, there is provided as shown also in FIGURE 5 a turn initiator 212 which acts to apply to the input of the coupler, for a certain length of time, a voltage of a selected polarity derived from battery 112, which is of greater magnitude than any signal to be expected from the output of the localizer receiver. In the Inbound position of the switch the instrument landing system is Connected to the automatic pilot in a proper sense to cause the craft to follow the beam in toward the transmitter. In the Glide position of the switch the control of the instrument landing system is extended so that it includes the elevator bridge as well as the aileron and rudder bridges of the automatic pilot. It will be realized that in addition to the localizer and glide path transmitters shown in FIGURE l, preferred operation of this system makes desirable the conventional marker beacon transmitters and receiver which are already known as a part of this system.

Inasmuch as the switch 86 is effective in all portions of the coupling unit, the details of the switch will now be given, reference being made to FIGURE 7. The switch is seen to comprise a shaft 213 arranged for rotation about its axis. Mounted on but insulated from shaft 213 are a plurality of switching arms or contactors 214, 215, 216, 217, 220, 221, 222, 223, 224, 225 and 226. Associated with each contactor is a bank of five fixed contacts so arranged that when the switch is rotated through equal increments the contactors are moved from one set of fixed contacts to the next. The movement of the contactors is always in the same clockwise direction, as indicated by the arrows in the figure, and by reason of the fact that the arms are double ended, the next increment of movement after one end of a contactor has reached the extreme clockwise contact brings the other end of the contactor into contact with the extreme counterclockwise contact.

In order to avoid complicating the drawing with a mass of reference characters, the following method of referring to the various contacts will be uniformly followed in the description of this coupling unit. Each contact will be identified by the number of its bank, which is the number of the switching arm, and a letter sufiix of which the letter A refers to the most counterclockwise contact in the bank, B to the contact next clock-wise to it, etc. This has been illustrated in connection with bank 17 only, where the various contacts are lettered A, B, C, D and E.

Banks 214 and 215 of switch 86 constitute rate variation unit 196 and are associated with the rate insertion circuit 195 of the localizer channel, bank 2,16 with the turn initiation circuit 212, and bank 217 with the low pass filter circuit 204, all functionally indicated in FIG- URE and shown in detail in FIGURE 6 as will presently be discussed. Banks 220, 221 and 224 of switch 8 6 determine the distribution of signals from the coupling unit to the automatic pilot. Banks 226 and 225 of switch -86 provide for control of solenoids 122 and 171) independent of their normal controlling switches 117 and 172 respectively.

Banks 222 and 223 of switch 86 cooperate to function as phase reverser 188. Electrical energy from inverter 114 is applied by conductor 118 to fixed contacts C, D and E of bank 222 and fixed contact B of bank 223, and by conductor 119 to lfixed contact B of bank 222 and fixed contacts C, D, E of bank 223; conductors 262 and 263, connected respectively to contacts 222 and 223, provide voltage output. When contactors 222 and 223 are on contacts A, no alternating voltage is transmitted from conductors 1|18 and `119 to conductors 262 and 263. When contactors 222 and 223 `are in their B positions, alternating voltage of a -first phase relationship is transmitted from conductors 118 and 119 to conductors 262 and 263, while when contactors 222 and 2-23 are in their C., D or E positions, alternating voltage of the opposite phase is transmitted through the reverser.

Shaft 213 of switch 86 is rotated, in the direction shown, by an electric motor 227, which may conveniently be astepping or ratchet type of motor, under the control of a switch 230, actuatedv by manu-a1 knob 211. Switch 230 .includes a movable contact arm 2731and a plurality of fixed contacts 232, 233, 234, 2,35 and 236,

Switch 230 is electrically connected to motor 227 through means including a conducting disk 237 mounted on `and insulated from shaft 213 and having diametrically opposite notches 249 and 241. One terminal of motor 227 is grounded as at 250, the other end is connectedy as by conductor 251 with a wiper 247 with maintains contact with disk 237 regardless of its rotated condition.

A plurality of further wipers 242, 243 244, 245 and 246 are arranged around disk 237 in the same angular fashion as are contacts A, B, C, D and E arranged about their respective contactors. The arrangement is such that when the contactors engage their contacts A, disk 237 is engaged by wipers 243, 244, 245 and 246, but is not engaged by wiper 242. In a similar fashion when the wipe/rs engage their contact B, disk 237 is engaged by all wipers except 243, etc. Wiper 242 is connected with contact 232 of switch 230 by a conductor 252, wiper 243 with contact 233 by conductor 253, wiper 244 with contact 234, by conductor 254, wiper 245` with contact 235 by conductor 255 and wiper 246 with contact 236 by conductor 256. Contact arm 231 of switch 230 is connected to the positive pole of battery 112. A condenser 248 is connected across motor 227 to absorb inductive surges.

In the condition of the switches shown in FIGURE 7 there is no complete circuit energizing motor 227. However, if manual knob 211 is turned from Off to Outbound, contact arm 231 moves from contact 232 to contact 233, and motor 227 is energized, through a circuit which may be traced from the positive pole of the battery through conductors 115, 171, 260 and 257, contactor 231, fixedl contact 233, conductor 253, fixed con- `tact 243, disc` 237,"contact 247, conductor 251, motor 227, and ground connections 250 and 124, to operate until notch 240 moves into alignment with contact arm 243. If manual knob 211 is rotated in the opposite direction, from Off to Glide, motor 227 is again energized to operate in the same direction and this operation continues until notch 241 comes into alignment with wiper 246. For any other setting of knob 209 similar action takes place, the motor always operating the switch in a clockwise direction until alignment is yattained regardless of the direction of movement of knob 209. Banks 214, 215, 216 and 2,17 of switch 86, and conductors 262 and 263, appear in FIGURE 6, to which reference vshould now be made.

The coupling unit glide path channel The yglide path signal 179 is applied to the glide path channel 25 of the coupling 4unit at terminals 264 and 265, the former being connected to a ground bus 2.66', as shown in the figure. The following description assurnes that switch 86 is in its C position. The rate insertion circuit 181 for the glide path ,channel includes capacitor 267 and resistors 270l and 271. Unidirectional voltage from battery 112 is .supplied to counpling unit 23 at terminals 272 and 273, the latter lbeing negative and connected Vto the ground bus 266 as shown.

After modification in the rate insertion circuit, ,the

voltage is coupled by a capacitor 280 to the grid ofthe lirst stage of amplifier 184, with which `is associated the rst chopper 182 of vibrator 183. The vibrator has an energizing Winding 274 which .is connected to .battery 112, and operates at a normal frequency o f about cycles per second. Chopper 1.82 includes a blade 275 and stationary contacts 276 ad 277: in the normal condition ofthe vibrator, .blade 275 .is in contact with fixed contact 276, completing the circuit for `fioyv of `electrical energy from the battery 112 through winding 274. When such a flow takes place, blade 275 is drawn away yfrom contact 276 into engagement with fixed contact 277: in this position it forms a short circuit across .amplifier 184, connecting the input lead to the ground bus.

Amplifier y184 comprises a first triode 2,81 and a second'tri'od'e 282 connected to forrn a conventional cas- Yafle amplifier having resistance-capacitance coupling.

frequency transients on the amplifier: it was not foundV necessary to by-pass the grid resistor 285 of triode 282. Anodev voltage is provided to the plates of the triodes through plate resistors 286 and 287; the interstage coupling capacitor is identified by the reference numeral 290. The output of amplier 184 is connected through a coupling capacitor 291 and the vibrating blade 292 of chopper 185, which moves between iixed contacts 293 and 294 synchronously with the movement of blade 275 of chopper 182, -and is supplied to ripple filter 186. The ripple filter is arranged for full wave operation, and is comprised of capacitors 295, 296, 297, and 298 and resistors 300, 301, 302 and 303. The input conductors 304 4and 305 of the ripple filter are connected to fixed contacts 293 and 294 of chopper 185, and the output conductors 306 and 307 of the ripple iilter provide unidirectional voltage to the balanced modulator which follows: a ground connection 308 is provided in the ripple iilter to complete the circuit to the modulator tubes.

Balanced modulator 187 is shown to comprise triodes 310, 311, 312 and 313 and a transformer 314 having a primary winding 315 andv a pair ofsecondary windings 316 land 317 having center taps 318 and 319 respectively. 'Ihe output of modulator 187 is rfed to coupling unit 190 comprising a transformer 329 having a primary winding 320, center tapped at 328, and a secondary Winding 321: a capacitor 322 is connected across primary winding 320 to adjust the phase of the output voltage. The output of secondary winding 321 is impressed upon a series crcuit comprising a fixed resistor 323 and the winding 324 of a potential divider 325 having a slider 326. One terminal of winding 324 is grounded as at 327 and the elevator signal out-put from the glide path channel 25 of coupler 23 appears between slider 326 and gro-und connection 327.

The power supply for coupler 23 includes a transformer 330 having a primary Winding 3-31 energized from conductors 262 and 263. Transformer 330 has a high voltage secondary winding 332, center tapped as at 333, which energizes the anodes of a pair of diodes 336 and 337 connected to comprise a full Wave rectifier, Whose output is fed through a graded resistance-capacitance filter 339 including capacitors 340, 341, 342 and resistors 343 and 344. By this construction the most thoroughly ltered D.C. is provided for the anode of triode 281 comprising the first stage of the amplifier, While the voltage for triode 282 comprising the second stage of the amplifier, although less thoroughly iiltered, is still sufficiently smooth for this use. 'I'he triodes comprising balanced modulator -187 are provided with negative bias on their respective grids by biasing resistor 345 in the common cathode conductor 346: a suitable by-pass capacitor 347 is connected across biasing resistor 345.

fIf there is no signal output from the glide path receiver to the coupling unit, input terminals 264 and 265 of the glide path' channel of the coupling unit 23 are at the same potential and the grid of triode 281 remains at cathode potential regardless of the operation of chopper 182. The output of the iilter 186 is therefore zero, the grids of the modulator triodes are all at a potential with respect to their cathodes which is determined only by bias resistor 345, and, since the triodes are selected for electrical equality, the anode currents in all of them are equal. To make this clear the plate circuits of the various triodes will now be traced.

The plate circuit of triode 310 may be traced from plate to cathode of the triode, thence to conductor 346, bias resistor 345, ground bus 266, terminal 273, battery 112, terminal 272, conductors 348 and 349, center tap 328 of transformer 329, the lower half of primary Winding 320, conductor 358, center tap 318, the upper half of 18 secondary winding 316, and conductor 359 to the plate of the triode.

'I'he plate circuit of triode 311 may be traced from plate to cathode of the triode, thence through conductor 346, bias resistor '345, ground bus 266, terminal 273, battery 112, terminal 272, conductors 348 and 349, center tap 3-28 of transformer 329, the upper half of primary winding 320, conductor 360, center tap 319, the upper halt` of secondary winding 317, and conductor 361 to the plate of the triode.

The plate circuit of triode 312 may be traced from plate to cathode of the triode, thence through conductor 346, bias resistor 345, ground bus 266, terminal 273, battery 112, terminal 272, conductors 348 and 349, center tap 328 of transformer 329, the lower half of primary winding 320, conductor 358, the lower half of secondary winding 316, and conductor 362 to the plate of the triode.

The plate circuit of triode 313 may be traced from plate to cathode of the triode, thence to conductor 346, bias resistor 345, ground bus 266, terminal 273, battery 112, terminal 272, conductors 348 and 349, center tap 328 of transformer 329, the upper half of primary winding 320, conductor 360, center tap 319, the lower half of secondary Winding 317, and conductor 363 to the plate of the triode.

From the above it follows that whenever triode 310 or triode 312 discharges, current Hows downward in the lower half of primary Winding 320, and whenever triode 311 or triode 313 discharges current flows upward in the upper half of primary winding 320; however, triode 310 and triode 312 cannot discharge at the same time, because their anodes are at opposite instantaneous altemating potentials with respect to their cathodes, and triodes 311 and 313 cannot discharge simultaneously for the same reason. In the absence of differential bias on the various control grids, triodes 310 and 311 discharge equally during a first half cycle of the source supplying transformer 314, producing equal and opposite currents in primary Winding 320 and therefore giving zero output from secondary winding 321. During the next half cycle triodes 312 and 313 discharge equally, against providing equal and opposite currents in primary Winding 320 and giving zero output from secondary lwinding 321.

It will now be apparent that, for a zero signal into the glide path channel 25 of coupler 23, no output signal is obtained between slider 326 and ground connection 327.

Suppose now that a signal is being supplied to the coupling unit from the glide path receiver such that terminal 265 is positive with respect to terminal 264. Then each time blade 275 of chopper 182 moves away from xed contact 277 the grid of triode 281 is made positive with respect to its cathode: a square wave is accordingly transmitted through amplifier 184, Since the ampliier has an even number of stages, the voltage on blade 292 of chopper 185 is positive when the grid of triode i281 is positive; at this time blade 292 is in an engagement with fixed contact 294. When the vibrator reverses so that the grid of triode 281 is grounded, blade 292 is at its lowest potential, and is engaged with fixed contact 293. There is thus impressed across the series circuit comprising resistors 300, 302, 303 and 301, a voltage such that conductor 306 is positive, and conductor 307 negative, with respect to ground, which is mid-Way between them. The action of ripple filter .186 is such as to suppress the alternating components of this voltage and give a substantially constant unidirectional output whose magnitude is proportional to the input voltage at terminals 264 and 265. The grids of triodes 311 and 312 are therefore more negative and those of triodes 310 and 313 less negative, compared to their cathodes, than when no signal is applied to the amplifier.

As a result of these altered grid voltages, the discharge of triode 310 is greater than before and that of triode 311 is less than before, so that for a rst half cycle ofv the alternating plate voltage the current flowing downward in primary winding 320 exceeds that flowing upward. In the next half cycle the discharge of triode 313 is greater than before and that of triode 312 is less than before, so that the current owing upward in primary winding 320 exceeds that fiowing downward. As the result ofv this, an alternating voltage of a iirst phase is induced in secondary winding 321.

If the signal from the glide path receiver is such as to make terminal 265 negative with respect to terminal 264, the system operates in general in the same fashion, but this time conductor 306 is negative with respect to conductor 30'7. The discharge of triode 310 is now less than before and that of triode 311 is greater than before, so that for a first half cycle of the alternating plate voltage the current flowing upward in primary winding 320 exceeds that liowing downward. In the next half cycle the discharge of triode 313 is less than before and that of triode V312 is greater than before, so that'the current flowing downward in primary winding 320 exceeds that owing upward. As a result of this an alternating voltage is induced in secondary winding 321, of the opposite phase of that induced when the glide path signal isV of the rst polarity.

The glide path coupler is thus shown to provide an alternating voltage output which reverses in phase with reversal in the polarity of a undirectional voltage applied thereto, the two phases being in 180 relationship and one of them being in phase with the secondary voltage of the transformer. If the unidirectional voltage varies in magnitude, a similar change is brought about-although opposed by the rate insertion circuitin the amplitude of the alternating voltage output, since the potentials on the grids of the modulator triodes vary with the input voltage and regulate the amplitude of the alternating voltage output.

Coupling unit localizer channel The localizer signal 180 is applied to input terminals 364 and 365 of the localizer channel 24 of coupling unit 23: as before, one of the input terminals, 364, is grounded. The following description ofthe circuit assumes the position of switch 8.6 in which all the contactors are in their B positions. Under these conditions, the rate insertion circuit 195 of the localizer channel comprises a capacitor 367 and a pair of resistors 370 and 371. The output of the rate insertion circuit is applied to one chopper 193 of a vibrator type interrupter 194 having a coil 374 energized from battery =112 yfor operation at a frequency of about 100 cycles per second. Chopper 193 includes a Vibrating arm 375 and a pair of stationary contacts 376 and 377: this vibrator operates in the same fashion as does vibrator 182 previously described. The chopper circuit is coupled by means of a coupling capactor 380 to amplifier 197 which comprises a pair of triodes 381 and 382. A by-pass capacitor 383 is connected across the grid resistor 384 of the first stage of this amplifier while the grid resistor 385 of the second stage is found not to require by-passing. The anode of triode 381 is provided with the most completely ltered unidirectional voltage of the power supply through resistor 386, and the anode of triode 382 is provided with less filtered unidirectional voltage from the power supply through resistor 387, in a manner analogous to the power supply for the amplifier 184 in the glide path circuit. As before the amplifier is resistance-capacitance coupled, the coupling capacitor being identified by the reference numeral 390. The output of amplifier 197 is transmitted by coupling capacitor 391 to the movable contact 392 of the second chopper 198 comprised in vibrating interrupter 194, but the signal is altered by the influence of a triode 200 connected to act as D.C. restorer and a further triode 201 connected to act as a limiter: the altering circuit includes a resistor 350.

The additional complication of the system caused by components 200 and 201 is introduced in theloealizfer.

channel 24 and not in the glide path channel 25 because larger signals are needed from the localizer channel. The glide path channel is used only when the craft has assumed a position in attitude and a direction of motion which at worst are not very far from those desired, as will later be explained in detail, but in the normal use of the system there is a considerable range of variation within which the localizer channel must control the craft. This requires a larger available power output from the localizer channel and also a more perfect full-wave form for the amplier output wave: although this could be accomplished by a pair of limiters it is considered preferf able to use one D.C. restorer and one limiter so as to require one rather than two bias voltage supplies.

The square wave output from triode 382 after passing through coupling capacitor 391, alternates about a central value which is the same as ground potential. The effect of D.C. restorer 200 is to alter this wave so that it alternates about a central positive value compared to ground potential, by dropping the lower half of the square wave. As a result, it is thereafter necessary to use a single limiter to clip only one side of the wave, and the number of bias voltages is accordingly reduced.

The cathode of limiter triode 201 is maintained at a biasing potential with respect to its anode by being connected between resistors 352 and 353 of a voltage divider including further resistors 351 and 354, the latter being grounded and the former being connected by means of conductor 348 to the positive terminal 272 of battery 112. Thus, the voltage drop in resistors 354 and 353 serves as ya source of positive biasing voltage for the cathode of limiter triode 201.

Blade 392 of chopper 198 moves between fixed contacts 393 and 394, connected to the input conductors 404 and 405 of ripple filter 202, which is shown to comprise capacitors 395, 396, 397 and 398 and resistors 400, 401, 402 and 403. The output of the ripple filter is fed to the grids of balanced modulator 203 by conductors 406 and 407.

Modulator 203 is shown to comprise triodes 410, 411, 412 and 413 and a transformer 414 having a primary winding 415 energized from conductors 262 and 263 and a pair of secondary windings 416 and 417 having center taps 418 and 419, respectively. The grids of the modulator tubesare given a negative bias by biasing resistor 355, in the common cathode lead 356, which is by-passed by a capacitor 357. The output of modulator 203 is fed to coupler 205 which is shown to comprise a transformer 429-including a primary winding 420 center tapped as at 428 and a secondary winding 421: a capacitor 422 is connected across primary winding 420- to adjust the phase of the output voltage. The output of secondary winding 421 is connected through a resistor 428 across a pair of series circuits, the rst comprising the windings 423 and 424 of a pair of potential dividers 425 and 426 having sliders 427 and 430, and the second including the windings 431 and 432 of la pair of potential-dividers 433 and 434 having sliders 435 and 436. One side of this pair of circuits is grounded as at 437.

Potential dividers 426, 425, 433 and 434 comprise function selector 206, and operate to derive from they output of transformer 429 aV plurality of voltages which may have any desired ratio so that the signalsv applied tol the ailerons and rudder may be of the relative magnitudes found mostsatisfactory for any given craft configuration. The aileron signal outputs 2707 are derived from sliders 435 and 436 of potential Vdividers 433 and 434 and appear between conductors 493 and 494 and ground connection 437, while the rudder signal outputs 210 are derived from sliders v427 and 430 of potential dividers 425 and 426 and appear between conductors 495 and 496 and groundy connection 437. Y

The `operation of localizer channel 24 as just described is the same as the operationof glide path channel 25 ex cept for the functioning of-D.C. restorer 200. and limiter 201, which have been separately discussed. Alternating voltages are `induced in theV secondary winding 421 of coupling transformer 429 which vary in amplitude and reverse in phase with variation of the magnitude and reversal in the phase of the signal applied at input terminals 364 and 365, and since the operation of channel 25 has been given in great detail this description will not be repeated. However, in addition to the components just described, the localizer circuit of coupler 23 includes further components -which are connected to lform a part of the circuit in certain positions of switch 86. These components include resistors 438, 440, 441, and 442 and banks 214 and 215 of switch 86 comprising the rate variation circuit 196, capacitor 443 and bank 217 of switch 86 comprising low pass lter circuit 202, and capacitor 444, resistor 445, and bank 216 of switch 86 comprising turn initiating circuit 212.

In the A, B and E positions of selector switch 86, resistor 370 only is in parallel with capacitor 367 and resistor 371 only is in series with the parallel circuit thus formed. The amount of opposition offered by this circuit to changes in the applied voltage is minimum.

In the D position of switch y86, resistors 370 and 440 in series are in parallel with capacitor 367 and resistors 371 and 442 are in series with the parallel circuitthus formed. The amount of opposition offered by this circuit to change in the applied voltage is greater than that in the A, B, or E positions of the switch.

In the C position of switch 86, resistors 370, 440 vand 438 in series `are all in parallel with condenser 367, and resistors 371, 442 and 441 are in series with the parallel circuit thus formed. The amount of opposition offered by this circuit to change in the applied voltage is maximum.

In the A, D, and E positions of switch 86 resistor 445 and capacitor 444 in series are short circuited. In the B position of switch 86 capacitor 444 is charged from battery 112, through resistor 445, to a voltage determined by the voltage drop in resistor 354: in one embodiment of the invention this was slightly more than 2 volts. In the C position of switch 86 the charged capacitor 444 and resistor 445 are connected between terminal 450, common to the parallel circuit including condenser 367 and the series circuit including resistor 371, and ground, in such a fashion that the terminal 450 is given a positive voltage. This voltage is greater than any signal normally to be expected at this low level point in the localizer channel, and insures an output from the channel which will cause the turn of the craft to the left no matter what the normal signal is. This charge leaks off capacitor 444 through resistors 441, 442 and 371. After which the capacitor and resistor simply act to slightly increase the opposition offered by the rate circuit to change in the signal voltage.

In the C position only of switch'86 capacitor 443 is connected across output conductors 406 and 407 of ripple filter 202, thus increasing the filtering elect of capacitors 395 and 397 as -far as the Voltage -between the output conduc-tors is concerned.

It is to be noted that since the primary windings of transformers 94, 135, 156, 314, 414 and 466 are energized from a common source, the voltages added in the series circuits are in the relationship of multiples of 180, that is, ley are either in phase or 180 out of phase with the source and with each other.

In one successful embodiment of coupling unit 23, t-he following values for the various components were used:

Resistors 270, 284, 285, 370,

384, 385, 387, 440, 445 500,000 ohms. Resistor 271 30,000 ohms. Resistors 286, 287, 386, 400,

401 250,000 ohms. Resistors 300, 301, 302, 303,

402, 403, 438 1,000,000 ohms'.

, 22 Resistor 323 300 ohmS.` Resistor v325 200 ohms. Resistor 343 50,000 ohms. Resistors 344, 350 100,000 ohms. Resistors 345, 355 2,000 ohms. Resistor 351 21 ohms.v Resistor 352 40 ohms. Resistor 353 60 ohms. Resistor 354 10 ohms. Resistors 371, 442 10,000 ohms. Resistors 425, 426, 433, 434 400 ohms. Resistor 428 ohms. Resistor 441 20,000 ohms. Condenser 267 2 microfarads. Condensers 280, 290, v291,

380, 390, 391 Condensers 283, 383 Condensers 295, 296, 297, 298, 340, 341, 342, 395, 396, 397,

398, `444 l microfarads. Condensers 347, 357, 367 25 microfarads. Condenser 443 .25 microfarads. Condensers 322, 422 .0015 microfarads. Primary windings 95, 137, 160,

315, 315, 331, 415, 467 Secondary windings 316, 317,

332, 416, 417 520 vous A.C. Battery 112 28 volts D.C. Inverter 114 output 19 volts 105 cycles. Vibrators 183, 194 24 volts D.C., 100 c.p.s.

natural frequency.

.05 microfarads. .01 microfarads.

19 volts A.C.

All diodes sections of 7Y4 tubes All triodes sections of 7'F7 tubes Operation of the automatic approach system as a whale When it is desired to land at an airport during a period of reduced visibility, the pilot of the craft ordinarilyrefers to a map of the airport and vicinity to determine the position of the landing strip relative to the main radio range, and the location of the blind landing beam and markers. The remote approach to the airport is made along the main radio range, the attitude of the craft being -stabilized by the automatic pilot and being corrected as necessary so that it follows the range at a desired altitude. 'Ihe receivers 12 `and 13 and the coupling unit 23 need not be energized until such an interval before the airport is approached as will allow them to properly heat up and become stable.

The blind landing beam is in known orientation to the main radio range beam, and the approach to any large airport is made under the supervision -irst of the range operator and then of the control tower operator, as usual: the pilot is advised how to enter the blind landing beam from the range beam, and is cleared for each step of the landing operation by voice transmission. If the blind landing system is set up at a temporary location, the pilot may have to navigate his craft to the vicinity of the landing transmitter by procedure independent of radio ranges. In any case, as the local approach begins receivers 12 and 13 and coupling unit 23 must be in operative condition; switch 86 is left in its Off position until the craft intersects the landing beam as directed by the control tower or until the pilot is ready to circle the field to nd the beam if temporary equipment makes this necessary. The pilot will know, either by voice instruction orby previousbrieng, the preferred altitude, air speed and distance from the transmitter at which to enter the landing beam, although from a technical standpoint, as opposed to a traic control standpoint, it is possible to enter and make use of the landing beam at any altitude, distance and air speed desired just so long as the entry is at reasonably acute angle.

In some cases it may be desirable to enter the beam and at once approach the transmitter, but in general it is more desirable to enter the beam, proceed away from 

